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A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots
Due to their efficient locomotion and natural tolerance to hazardous environments, spherical robots have wide applications in security surveillance, exploration of unknown territory and emergency response. Numerous studies have been conducted on the driving mechanism, motion planning and trajectory...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2017
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5492687/ https://www.ncbi.nlm.nih.gov/pubmed/28555030 http://dx.doi.org/10.3390/s17061231 |
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author | Wu, Fang Vibhute, Akash Soh, Gim Song Wood, Kristin L. Foong, Shaohui |
author_facet | Wu, Fang Vibhute, Akash Soh, Gim Song Wood, Kristin L. Foong, Shaohui |
author_sort | Wu, Fang |
collection | PubMed |
description | Due to their efficient locomotion and natural tolerance to hazardous environments, spherical robots have wide applications in security surveillance, exploration of unknown territory and emergency response. Numerous studies have been conducted on the driving mechanism, motion planning and trajectory tracking methods of spherical robots, yet very limited studies have been conducted regarding the obstacle avoidance capability of spherical robots. Most of the existing spherical robots rely on the “hit and run” technique, which has been argued to be a reasonable strategy because spherical robots have an inherent ability to recover from collisions. Without protruding components, they will not become stuck and can simply roll back after running into bstacles. However, for small scale spherical robots that contain sensitive surveillance sensors and cannot afford to utilize heavy protective shells, the absence of obstacle avoidance solutions would leave the robot at the mercy of potentially dangerous obstacles. In this paper, a compact magnetic field-based obstacle detection and avoidance system has been developed for miniature spherical robots. It utilizes a passive magnetic field so that the system is both compact and power efficient. The proposed system can detect not only the presence, but also the approaching direction of a ferromagnetic obstacle, therefore, an intelligent avoidance behavior can be generated by adapting the trajectory tracking method with the detection information. Design optimization is conducted to enhance the obstacle detection performance and detailed avoidance strategies are devised. Experimental results are also presented for validation purposes. |
format | Online Article Text |
id | pubmed-5492687 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2017 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-54926872017-07-03 A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots Wu, Fang Vibhute, Akash Soh, Gim Song Wood, Kristin L. Foong, Shaohui Sensors (Basel) Article Due to their efficient locomotion and natural tolerance to hazardous environments, spherical robots have wide applications in security surveillance, exploration of unknown territory and emergency response. Numerous studies have been conducted on the driving mechanism, motion planning and trajectory tracking methods of spherical robots, yet very limited studies have been conducted regarding the obstacle avoidance capability of spherical robots. Most of the existing spherical robots rely on the “hit and run” technique, which has been argued to be a reasonable strategy because spherical robots have an inherent ability to recover from collisions. Without protruding components, they will not become stuck and can simply roll back after running into bstacles. However, for small scale spherical robots that contain sensitive surveillance sensors and cannot afford to utilize heavy protective shells, the absence of obstacle avoidance solutions would leave the robot at the mercy of potentially dangerous obstacles. In this paper, a compact magnetic field-based obstacle detection and avoidance system has been developed for miniature spherical robots. It utilizes a passive magnetic field so that the system is both compact and power efficient. The proposed system can detect not only the presence, but also the approaching direction of a ferromagnetic obstacle, therefore, an intelligent avoidance behavior can be generated by adapting the trajectory tracking method with the detection information. Design optimization is conducted to enhance the obstacle detection performance and detailed avoidance strategies are devised. Experimental results are also presented for validation purposes. MDPI 2017-05-28 /pmc/articles/PMC5492687/ /pubmed/28555030 http://dx.doi.org/10.3390/s17061231 Text en © 2017 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Wu, Fang Vibhute, Akash Soh, Gim Song Wood, Kristin L. Foong, Shaohui A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots |
title | A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots |
title_full | A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots |
title_fullStr | A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots |
title_full_unstemmed | A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots |
title_short | A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots |
title_sort | compact magnetic field-based obstacle detection and avoidance system for miniature spherical robots |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5492687/ https://www.ncbi.nlm.nih.gov/pubmed/28555030 http://dx.doi.org/10.3390/s17061231 |
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